• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a bending angle measuring method on a bending machine (1), in particular a bending press or a folding machine, wherein the bending machine (1) has a bending tool arrangement (2) at least one upper (3) and one lower tool (4), wherein a sheet ( 5) in the bending tool assembly (2) is inserted. A light pattern (13) is emitted from a lighting device (11) of a bending angle measuring device (7) onto a section, the section being in one piece and comprising a partial area on a side surface of the lower tool (4) and the inserted sheet (5). The light pattern (13) on the lower tool (4) and on the metal sheet (5) is detected by an image acquisition device (10) of the bending angle measuring device (7), and a bending angle is determined by the analysis module from the detected light pattern (13). Furthermore, a transition section (9) between lower tool (4) and sheet (5) is determined and based on this, a partial detection area (19) in the detection area (8) of the image acquisition device (10) is determined. This sub-detection area (19) is detected by the image acquisition device (10) and during the execution of the bending deformation, the actual bending angle is determined.
    公开号:AT515944A4
    申请号:T50744/2014
    申请日:2014-10-16
    公开日:2016-01-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a bending angle measuring method on a bending machine.
    Optical bending angle measuring methods are usually based on the fact that an illumination device of a bending angle measuring device directs a light pattern onto the sheet to be formed, and this light pattern is detected by an image sensing device of the bending angle measuring device. In most cases, the image detection device and the illumination device are arranged distan¬ziert from each other, so that an angle is gege¬ben between the incident on the sheet of light beam and the main detection direction of the image capture device. This offset and the resulting angle ensures that the image acquisition device detects the light pattern projected onto the sheet metal surface at an angle, so that a significant change in the geometry of the projected light pattern occurs during the execution of the bending transformation will result on the bending sheet metal leg.
    In order to achieve the most accurate possible detection of the resulting bending angle by means of such an optical method, it is of particular advantage if the detection of the projected light pattern is carried out as close as possible to the bending edge on the lower tool. Therefore, the bending angle measuring device is arranged at a right angle to the longitudinal extent of the lower tool of the latter and the lighting device and Bildfas¬sungsvorrichtung pivoted in the direction of the bending edge of the lower tool. Such an arrangement, for example, from DE 20 2010 00 63 91 U1 be¬kannt. However, a disadvantage of such a design is that the orientation of the bending angle measuring device is usually correct only for a lower tool or for a few lower tools. In particular, results from the width of the
    Sub-tools the problem that the point of the transition from Unterwerkzeug on the sheet from the detection range of the image capture device can walk. However, this point usually corresponds to the bending edge and in any case represents the region of interest to be detected. Thus, for differently wide sub-tools, a new pivoting of the bending-angle measuring device is often required.
    For example, DE 199 30 745 A1 also discloses a bending press in which the image-detecting device is pivoted so as to achieve a resolution improvement.
    From DE 10 2007 056 827 B3 a device is known which comprises one or more bending angle measuring devices which are positioned relative to the lower tool on the basis of design data and / or material data. To cover different tool widths, it is disclosed that the measuring devices are moved on guide rails arranged at right angles to the longitudinal extension of the lower tool. Similar explanations are also known from EP 1 204 845 A1, EP 1 102 032 A1 and US 5,531,087 A.
    The disadvantage of the prior art is that in order to adapt the bending angle measurement to different lower tools, the bending angle measuring device must be changed in its wasted orientation with respect to the lower tool. However, such a change always involves the risk that thereby the calibration or referencing of the bending angle measuring device can be adjusted inadvertently with respect to the lower tool and thus the risk of a false measurement of the bending angle is given.
    The object of the invention is thus to provide a bending angle measuring method which can be substituted for a multiplicity of sub-tools of different width and avoids the disadvantages with regard to a misadjustment in the adaptation to different lower tools.
    The object of the invention is achieved by a bending angle measuring method on a bending machine. In particular, the bending machine is a bending press or folding machine, wherein the bending machine comprises a bending tool assembly of at least one upper and one lower tool. To carry out the bending deformation, a sheet metal to be formed is inserted into the bending tool arrangement. An illumination device of a bending angle measuring device emits a light pattern onto a section, wherein the section is in one piece and comprises a partial region on a side surface of the lower tool and of the inserted metal sheet. An image acquisition device of the bending angle measuring device records the pattern of light on the lower tool and on the metal sheet and determines a bending angle from the detected light pattern by an analysis module. In this case, a transitional section between the lower tool and the sheet is determined, and further, based on the transition section, a partial detection area is determined in the detection area of the image acquisition device. Subsequently, the partial detection area is detected by the image acquisition device and during the execution of the bending deformation, the actual bending angle is determined.
    The subject method can be used for both bending presses and slew bending machines. The specific constructional details of these two types of bending machines are not covered herein. The bending tool arrangement is understood to mean those elements of the bending machine which carry out the bending deformation directly on the sheet. In most cases, a tool of the bending tool assembly will be at rest in relation to the bending machine, and a tool driven by a drive means will perform the bending forming. Based on the Biegewerkεzeuganordnung a bending press the stationary tool is called Unter¬ tool.
    The one-part, illuminated section is understood to mean that region in which the light pattern emits the light pattern. Die¬ser area is formed such that the light pattern on the Unterwerk¬ and the sheet extends, but in particular over the transition from the lower tool to the sheet.
    With this design, it is ensured that with only one image capture device and in particular without having to pivot it, the bending angle for a multiplicity of possible bending tool arrangements can be detected correctly and accurately.
    According to a development of the transition section is determined from the detected Licht¬muster. This development has the advantage that the subject method is usable for each bending machine, and in particular becomes independent of the knowledge of the tool geometry used. The outer tool geometry, in particular the transition from the tool body to the sheet, is determined according to the subject embodiment if required.
    In this regard, it is advantageous to have a development according to which a light line is emitted by the illumination device. A light line is characterized in particular by a clearly defined geometry and thus unambiguous recognizability. Also, by appropriate selection of a high light intensity, a particularly good contrast to the environment can be achieved, which improves the recognizability and thus the reliability of the evaluation.
    According to a development it is also provided that the transition section is determined by finding a discontinuity of the geometry in the detected light pattern. The light pattern will be designed in such a way that the transition from the lower tool to the sheet leads to a clear and thus easily recognizable disturbance of the geometry of the light pattern. Preferably, this analysis is performed by the analysis module. If, according to a possible development, a light line is emitted as a light pattern, the transition can be recognized as a kink in the detected image of the straight line.
    A refinement also consists in determining the transition section based on a stored or determined identifier of the lower tool. This has the advantage that the tool-specific characteristics can be accessed with this identifier and thus the transition section is directly available. For example, the identifier, or the tool identification data associated with the identification may be stored in a storage means of the machine control.
    A further development is advantageous in that a tool identifier attached to the lower tool is read by the image capture device. The tool identifier can be embodied, for example, as a 1D or 2D code. The tool identifier can be designed in such a way that a link to the specific tool characteristic data is given via this identifier. However, it is also possible that this identifier itself contains the tool characteristics, so that the transition section and thus the sub-detection range can be determined directly.
    According to a further development, it is provided that the partial detection area is detected with high resolution. This has the advantage that, after determining the partial detection range, which will in most cases be significantly smaller than the detection range of the image detection device, this partial region can nevertheless be read out sufficiently accurately. Preferably, an image capture device is used, which has a resolution of at least 500 ppm in the partial capture area. In a preferred embodiment, the partial detection area on the metal sheet has a physical size of 20 × 20 mm, this area being detected at 400 × 400 pixels.
    A refinement also consists in the fact that the partial detection area is formed so that the transitional section lies in the edge area of the partial detection area. Since the portion of the detected light pattern originating from the sheet to the transition portion is important for determining the bending angle, this development has the advantage that a larger range is available for determining the bending angle without unnecessarily increasing the partial detection range.
    According to a development, it is also provided that the bending angle measuring device is moved along the lower tool. This design has the advantage that thereby the bending angle measuring device can be positioned in the region of the bending tool arrangement, in which the bending angle to be formed is to be determined. A further advantage lies in the fact that the bending angle measuring device can be moved out of the working area during the insertion process of the sheet into the bending tool arrangement. Thus, a protection against damage by the manipulation process with the umzu¬ forming sheet is possible. However, it is particularly advantageous that this displacement does not change the orientation of the bending angle measuring device in relation to the lower tool and the transition section.
    The object of the invention is also achieved by a bending machine with a bending angle measuring device, which bending angle measuring device is designed for carrying out the subject method. In this case, the image acquisition device detects the light pattern emitted by the illumination device onto the lower tool and onto the sheet to be formed. Furthermore, the image capture device is designed as a high-resolution camera, with a resolution in the partial detection range of at least 500 ppm. This ensures that the entire work area, which can be covered with the different sub-tools, can be covered with only one image-capturing device, without having to swivel the detection area.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    Fig. 1 shows a bending machine with a lower tool of a first width, for illustrating the subject method;
    Fig. 2 shows a bending machine with a lower tool of a second width, for illustrating the subject method;
    FIG. 3 is a perspective view of a bending machine for illustrating the subject method; FIG.
    4 a) and b) The determination of the partial detection areas from the entire detection area for differently wide lower tools.
    1 shows a part of a bending machine 1 with a bending tool arrangement 2, which bending tool arrangement 2 has at least one upper and lower tool 4. The other components of the bending machine 1, in particular the machine frame and the drive means for adjusting the Biegewerkzeugan¬ordnung 2 and thus to carry out the bending deformation are not darge¬, since they are not for the description of the subject method of Be¬ interpretation.
    In the preparation of the bending forming, a sheet 5 to be formed is inserted into the bending tool assembly 2. In the illustrated case, a lower tool 4 with the smallest possible width 6 is arranged in the bending machine 1, which represents a first extreme case for the orientation of the bending angle measuring device 7. The other extreme, with the widest possible lower tool, is inFig. 2 represents and described.
    In this configuration of the bending tool arrangement 2, it must be ensured that the detection area 8 is in any case the transition section 9 between the lower tool 4 and the sheet 5 in the detection area 8 of the image sensing device 10. According to the subject method, the transition section 9 between lower tool 4 and sheet 5 is determined, and based on this transition section 9, a partial detection area in the detection area 8 of the image acquisition device 10 is determined.
    FIGS. 1 and 2 show a simplified form of the lower tool, in particular the transition section 9. The transition section 9 will not be completely arranged on the outer edge of the lower tool 4, but rather offset to the bending recess of the tool, as can be seen in FIG. Since, during the bending operation, the sheet bears against this edge of the bending recess, it is of importance if this transition portion 9 can be detected well and high-resolved by the bending angle measuring device 7.
    Fig. 2 shows the situation when a lower tool 4 with the largest possible width 6 is used in the bending tool assembly 2. Also in this case, the detection area 8 of the image sensing device 10 of the bending angle measuring device 7 is large enough to detect both the lower tool 4 and the sheet 5 arranged in the bending tool assembly 2, in particular the transition section 9 between the lower tool 4 and the sheet 5.
    Fig. 3 shows a perspective view of the lower tool 4, which is arranged in the bending machine 1. The lower tool 4 has a V-shaped bending recess 12 into which the sheet 5 was pressed by the upper tool, not shown. By this force acting on the metal sheet 5 it comes to reshaping, so that the sheet 5 will bend in accordance with the predetermined by the Biegeausnehmung12 shape, in particular the opening width of the bending recess. In accordance with the subject method, a light pattern 13 is emitted by a lighting device 11 of the bending angle measuring device 7 onto a section on the underside 14 of the sheet 5 and also onto a section on the side wall 15 of the lower tool 4. According to a preferred embodiment, the light pattern 13 is formed by a light line 16, which light line 16 can be clearly seen on the side wall 15 of the lower tool 4 and on the underside 14 of the sheet 5 as a line.
    According to the present embodiment, it is now provided that the detection area 8 of the image capture device 10 is large enough to detect all possible different widths 6 of the lower tool 4, the light pattern 13 projected onto the lower tool 4 and the metal sheet 5. Thus, it is possible to use any lower tool 4 usable for this bending machine 1, or any suitable bending tool assembly 2, without having to calibrate the bending angle measuring device 7 to the current lower tool 4. In particular, it is thus not necessary to pivot the bending angle measuring device 7 in relation to the lower tool 4 about a longitudinal direction 17 of the lower tool 4. The transition section 9 relevant for the bending angle determination therefore always lies in the detection area 8.
    According to a development, it is also provided that the bending angle measuring device 7 can be displaced in the longitudinal direction 17 of the lower tool 4. With this development, it is possible to determine the current bending angle at a plurality of positions along the sheet 5. This has the advantage in particular if a very long sheet is bent and the risk of uneven bending arises along the sheet. The displaceability is achieved spielsweise by the bending angle measuring device 7 along a guide device 18 is movable, wherein the movement preferably takes place by means of a drive means.
    FIGS. 4a and 4b show how the partial detection area is formed from the detection area of the image acquisition device.
    FIG. 4 a represents the situation from FIG. 1, FIG. 4 b represents the situation from FIG. 2. FIG. 4 shows in each case the entire detection area 8 of the image capturing device, such as that of the CCD camera, for example trained image capture device is recorded. From the illumination device, a pattern of light, preferably a line of light, is emitted to the lower tool and the sheet. In FIG. 3 it can be seen that an offset exists between the illumination device 11 and the image capture device 10, so that the capture region of the image capture device 10 detects the light line 16 projected on the sheet 5 at an angle to the projection direction of the light pattern 13. Because of this offset and the angled image acquisition, the transition section 9 that is interesting for the subject method can be recognized as a kink in the detected light pattern 13, 16. This situation is now shown in Figs. 4a and 4b. In the figures, the horizontal part of the light line 16 corresponds to the projection of the light line on the lower surface 14 of the sheet, the rising part of the light line 16 corresponds to the projection of the light pattern on the side wall 15 of the lower tool 4.
    When using a lower tool 4 with a small width 6, this transition section 9 will lie at a different location in the detection area 8 than is the case with a wide lower tool.
    According to the present method, it is now provided that, based on the transition section 9, a partial detection area 19 is formed in the detection area 8 of the image sensing device 10. For the correct and reliable determination of the bending angle during the execution of the bending deformation, it is important that the area of the sheet is located as close as possible to the bending edge in the lower tool 4. In the detected section, this corresponds to the area of the light line 16 which adjoins directly at the transition section 9; in the illustration this is the horizontal section of the light line 16 to the right of the transition section 9. Since only this area on the right of the transition section 9 is of interest the remaining area of the detection area 8 contains no information relevant for determining the resulting bending angle, this partial detection area 19 is formed in such a way that the transition section 9 and a relevant section of the light pattern 13 or the light line 16 in the partial detection area 19 is located. According to the claimed embodiment, this sub-detection area 19 is detected in a high-resolution manner by the image-recording device. On the one hand, a reduction of the acquired image to the partial detection region 19 has the advantage that the detection or readout speed of the image acquisition device 10 is significantly higher than when the entire detection region 8 is read or read. In addition, the smaller partial detection region reduces this 19, the amount of data to be processed by the analysis module clearly, whereby a high processing speed can be achieved. This in turn allows a very accurate and timely determination of the actual bending angle and thus an increase in throughput by the bending machine.
    A high resolution is understood here to mean that the region of the light pattern 13 or the light line 16 is detected at least at the transition section 9 with a resolution of at least 500 ppm. This resolution makes it possible to determine very precisely the course of the bending line of the sheet metal in the region of the bending edge of the lower tool and to be able to determine very quickly and very quickly from the bending spiral and, if appropriate, also an expected springback. Furthermore, since the image acquisition device no longer has to be pivoted in its relative orientation to the lower tool or to the sheet in order to be used for different widths of lower tools, a significant increase in the achievable and reproducible accuracy in determining the bending angle can be achieved.
    The objective method thus achieves an increase in the processing speed and thus an increase in the throughput of metal sheet to be formed. At the same time, a long-term stability of the bending angle determination is achieved by reproducibly achieving a high accuracy in the determination of the bending angle with a simply formed bending angle measuring device.
    Finally, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, wherein the disclosures contained in the entire description mutatis mutandis to the same parts with the same Bezugsbe or. same component names can be transferred. Also, the location information chosen in the description, such as up, down, laterally, etc. related to the directly described and illustrated figure and these conditions are to be transferred in a change in position mutatis mutandis to the new situation.
    FIG. 3 shows a further embodiment of the bending angle measuring method which is possibly independent of itself, again using the same reference numerals or component designations for identical parts as in the preceding figures. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding figures.
    The embodiments show possible embodiments of the Biegewinkel measuring method, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual Ausführungsvarian¬ten are mutually possible and this variation possibility due to the Leh ¬re to technical action by objective invention in the skill of those working in this technical field expert.
    Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described may also represent independent, inventive or inventive solutions.
    The problem underlying the independent inventive solutions can be taken from the description. All statements on ranges of values in the description given herein are to be understood as including any and all subsections thereof, for example, the indication 1 to 10 should be understood as encompassing all subranges, starting from the lower bound 1 and the upper bound 10, i. all subregions begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    Above all, the individual embodiments shown in FIGS. 1-4 can form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures.
    For the sake of order, it should finally be pointed out that, for a better understanding of the construction of the bending angle measuring method, this or its components have been shown partly unevenly and / or enlarged and / or reduced in size.
    LIST OF REFERENCES 1 Bending machine 2 Bending tool arrangement 3 Upper tool 4 Lower tool 5 Sheet 6 Width 7 Bending angle measuring device 8 Detection area 9 Transition section 10 Image capturing device 11 Lighting device 12 Bending recess 13 Light pattern 14 Bottom 15 Sidewall 16 Light line 17 Longitudinal direction 18 Guide device 19 Part-detection area
    权利要求:
    Claims (10)
    [1]
    1. Bending angle measuring method on a bending machine (1), in particular bending press or folding machine, wherein the bending machine (1) has a bending tool arrangement (2) which comprises bending tool arrangement at least one top (3) and one bottom tool (4), wherein a metal sheet (5) to be formed is inserted into the bending tool arrangement (2); A light pattern (13) is emitted onto a section by a lighting device (11) of a bending angle measuring device (7), the section being integral and having a partial area on a side surface of the lower tool (4) and the inserted sheet (5) includes; • by an image acquisition device (10) of the bending angle measuring device (7), the light pattern (13) on the lower tool (4) and the sheet (5) is detected; • a bending angle is determined from the detected light pattern (13) by an analysis module; characterized in that • a transition section (9) between lower tool (4) and sheet metal (5) is determined; • Based on the transition section (9), a partial detection area (19) is detected in the detection area (8) of the image acquisition device (10); • the partial detection area (19) is detected by the image acquisition device (10); And that during the execution of the bending forming, the current setting bending angle is determined.
    [2]
    2. Bending angle measuring method according to claim 1, characterized in that the transition section (9) from the detected light pattern (13) is determined.
    [3]
    3. bending angle measuring method according to claim 2, characterized in that of the lighting device (11) a light line (16) is emitted.
    [4]
    4. Bending angle measuring method according to claim 2 or 3, characterized gekenn¬zeichnet that the transition section (9) by finding a discontinuity of the geometry in the detected light pattern (13) is determined.
    [5]
    5. Bending angle measuring method according to one of claims 1 to 4, characterized in that the transition section (9) is determined based on a stored or determined identifier of the lower tool (4).
    [6]
    6. bending angle measuring method according to claim 5, characterized in that on the lower tool (4) mounted tool identifier of the image acquisition device (10) is read.
    [7]
    A bending angle measuring method according to any one of claims 1 to 6, characterized in that said sub-detection area (19) is detected high-resolution.
    [8]
    8. bending angle measuring method according to one of claims 1 to 7, characterized in that the partial detection area (19) is formed so that the transition portion (9) in the edge region of the partial detection area (19).
    [9]
    9. bending angle measuring method according to one of claims 1 to 8, characterized in that the bending angle measuring device (7) along the Un¬terwerkzeugs (4) is moved.
    [10]
    A bending machine (1) having a bending angle measuring device (7), which bending angle measuring device (7) is adapted to carry out a method according to any one of claims 1 to 9, wherein the image sensing device (10) projects onto the lower tool from the lighting device (11) (4) and light pattern (13) emitted onto the metal sheet (5) to be formed, characterized in that the image acquisition device (10) is designed as a high-resolution camera with a resolution in the partial detection region (19) of at least 500ppi is forming.
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    同族专利:
    公开号 | 公开日
    US20170241775A1|2017-08-24|
    AT515944B1|2016-01-15|
    WO2016058020A1|2016-04-21|
    EP3207333A1|2017-08-23|
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    US10436579B2|2019-10-08|
    引用文献:
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    JPH07239221A|1993-05-24|1995-09-12|Komatsu Ltd|Bending angle detector and linear extracting device and device for setting bending angle detection position therefor|
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    JPH11104741A|1997-09-29|1999-04-20|Amutec:Kk|Method of and device for detecting bending angle of bending machine|
    JP3891697B2|1998-07-02|2007-03-14|株式会社小松製作所|Bending angle detection method and bending angle detection device for press brake|
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    EP1102032B1|1999-11-19|2005-10-05|LVD Company NV|Method and device for measuring a folding angle of a sheet in a folding machine|
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    DE202010006391U1|2010-05-04|2010-11-04|Bystronic Laser Ag|Angle measuring device for press brakes|
    CN103575238B|2013-10-10|2016-02-24|西安交通大学|A kind of bender angle detection device|JP6725344B2|2016-07-07|2020-07-15|株式会社アマダ|Press brake and angle detector|
    CN107931482B|2017-11-30|2019-02-26|湖南众连线束股份有限公司|A kind of adjustable cable bend device of bending radius|
    AT522419B1|2019-04-11|2021-11-15|Trumpf Maschinen Austria Gmbh & Co Kg|Measuring device for determining the bending angle|
    CN110090877A|2019-05-29|2019-08-06|安徽绿能技术研究院有限公司|A kind of Bending Mould online test method|
    CN111992601B|2020-08-21|2022-03-01|中交三航海洋工程有限公司|Method for measuring eccentricity of central axis in rolling process of large-diameter steel pipe pile|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50744/2014A|AT515944B1|2014-10-16|2014-10-16|Bending angle measuring method|ATA50744/2014A| AT515944B1|2014-10-16|2014-10-16|Bending angle measuring method|
    US15/519,187| US10436579B2|2014-10-16|2015-10-16|Bending angle measuring method|
    PCT/AT2015/050257| WO2016058020A1|2014-10-16|2015-10-16|Bending angle measuring method|
    EP15798308.1A| EP3207333B1|2014-10-16|2015-10-16|Bending angle measuring method|
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